/**************************************************************
 *  版权所有 (C), 2024, Jiangsu Dongcheng M&E Tools Co., Ltd
 *  @file:      node_camdar.cpp
 *  @author:    limin.wang
 *  @date:      2024/06/17
 *  @brief:
 *
 *  @note:
 **************************************************************/
#include "node_camdar1.h"
#include "std_msgs/msg/string.hpp"


NodeCamdar1::NodeCamdar1(const rclcpp::NodeOptions& options) : Node(options)
{
    // SetBuildId(GIT_COMMIT_ID);
    // SetBuildTime(BUILD_TIME);
    node_ = getNode();

    // 初始化 processor1_
    processor1_ = std::make_shared<DataProcessor>();

    // 初始化 subscriber_
    // subscriber_ = std::make_shared<DataSubscriber>(node_, processor1_);


    // stateManager_ = &StateConfigManager::getInstance(); // 获取单例的地址


}

void NodeCamdar1::onInit(const NodeParam_t& params)
{
    // subscriber_->init(); // 初始化订阅
    gdsp.onInit(node_, processor1_);
    gscm.Init();
    Init();
    LOG_CRITICAL("receive  STATUS:");

}

void NodeCamdar1::Init()
{
    gscm.Init();
}


#include "rclcpp_components/register_node_macro.hpp"
NODE_REGISTER_CLASS(NodeCamdar1);
